CN107798205A - The independent discrimination method of double-fed induction wind driven generator group shafting model parameter - Google Patents
The independent discrimination method of double-fed induction wind driven generator group shafting model parameter Download PDFInfo
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Abstract
The invention discloses a kind of independent discrimination method of double-fed induction wind driven generator group shafting model parameter, the disturbing signal at a slow speed that methods described passes through the superposition sinusoidal form in generator speed signal, excite the slow dynamic process of double-fed induction wind driven generator group, it is achieved thereby that shafting parameter and electric and controller parameter decoupled identification, can be in the case where being still unaware of double-fed induction wind driven generator group electric parameter and controller parameter exact value, shaft parameter is individually recognized, identification result has good precision, solve the problems, such as that conventional double-fed induction wind driven generator group shafting model parameter is difficult to identification.
Description
Technical field
The present invention relates to a kind of independent discrimination method of double-fed induction wind driven generator group shafting model parameter, belong to electric power
System modelling field.
Background technology
Double-fed induction wind driven generator group (hereinafter referred to as " DFIG units ") is the main flow machine used in current wind-power electricity generation
One of type, it is by wind energy conversion system (containing blade and wheel hub), transmission system (low-speed shaft, the step-up gear of the wind energy conversion system containing connection
With the high-speed drive shaft of connection generator amature), doubly fed induction generator, the part group such as electronic power convertor and its controller
Into.Accurate DFIG unit models are established, it is grid-connected rear significant with the reciprocal effect of power network for research wind-driven generator.
The shafting model of DFIG units is mainly used in describing the flexibility and torsional vibration characteristic of transmission system, DFIG shaft system of unit
Structure is as shown in Figure 1.Compared with wind energy conversion system and generator, the inertia very little of gear-box, it is possible to neglect the inertia of gear-box
The inertia of generator amature is omited or be included in, can so obtain representing two mass models of DFIG shaft system of unit, its equation is as follows：
In above formula, HtAnd HgThe respectively inertia time constant of wind energy conversion system and generator amature；KsFor the rigidity system of shafting
Number；DshAnd DgThe respectively damped coefficient of shafting and generator；Tm、Te、TshThe respectively machine torque of wind energy conversion system, generator
Electromagnetic torque, the machine torque of shafting transmission；ωtAnd ωrThe respectively rotating speed of the rotating speed of wind energy conversion system and generator amature；θtwFor
Relative angular displacement between two mass of wind energy conversion system and generator amature.There are five parameters in the model：Ht、Hg、Ks、Dsh、Dg。
DFIG units are the dynamical systems of a Multiple Time Scales, at present generally use on DFIG set grid-connection circuits
The parameter identification method of manufacture Voltage Drop disturbance can excite electro-magnetic transient, electromechanical transient and machinery in DFIG units to move simultaneously
State process.Especially electromechanical transient and mechanical dynamic process in time can not be full decoupled, and dynamic process is related to generator, control
The parameter of device processed and shafting, because number of parameters is excessive, it is difficult to accurate recognition.
The content of the invention
Goal of the invention：The present invention proposes a kind of independent identification side of double-fed induction wind driven generator group shafting model parameter
Method, come the parameter of accurate recognition shafting model by way of the slow dynamic process of independent excitation DFIG shaft system of unit.
Technical scheme：The technical solution adopted by the present invention is a kind of double-fed induction wind driven generator group shafting model parameter
Independent discrimination method, comprises the following steps：
1) apply the disturbing signal at a slow speed of sinusoidal form in the generator speed signal of DFIG units and shield actual turn
Fast signal, the wind speed and the delta data of generator speed that DFIG units are born during record disturbance applies；
2) unit and pessimistic concurrency control of DFIG units are established, and at random sets the numerical value and controller parameter of its electric parameter
Numerical value, so that DFIG unit models can enter steady-state operation；
3) optimized algorithm is used, using the disturbing signal of sinusoidal form rotating speed described in step 1) as input, with DFIG units
Generator speed, which becomes, turns to output, recognizes the H in DFIG shaft system of unit modelst、Hg、Ks、DshFour parameters；
4) fixing step 3) in the H that picks outtParameter values, using optimized algorithm, with sinusoidal form described in step 1)
Rotating speed disturbing signal is input, is become with the generator speed of DFIG units and turns to output, is recognized in DFIG shaft system of unit models
Hg、Ks、Dsh、DgFour parameters.
5) H to be picked out in step 3)tWith the H picked out in step 4)g、Ks、Dsh、DgFor DFIG shaft system of unit models
The final identification result of parameter.
Apply sinusoidal form disturbing signal in step 1) and need to use a virtual tach signal generating means, its input quantity
It is actual speed signal, the device exports tach signal reception of the sinusoidal form signal to DFIG units during disturbance applies
End, the device exports actual speed signal to the tach signal receiving terminal of DFIG units again after disturbance applies；Apply just
String form disturbing signal is ω0+ Asin (ω t), wherein ω0Generator speed before applying for disturbance, A is perturbation amplitude, and A can
It is the angular frequency of the sinusoidal form disturbing signal applied to take 0.05~0.1p.u., ω, and ω can use 0.5 π~π, when disturbance applies
A length of 1~2 cycle.
When the electric parameter numerical value and controller parameter numerical value of DFIG units are randomly provided in step 2), for actual DFIG
Unit, the random value scope of fixed rotor resistance can be 0.001p.u.~0.1p.u., the random value scope of rotor reactance
It can be the number that 0.05p.u.~0.5p.u., the random value scope of excitation reactance can be 1p.u.~10p.u., controller parameter
Value can ensure that unit model can enter steady-state operation after random setting.
Using optimized algorithm identification H in step 4)g、Ks、Dsh、DgDuring four parameters, Hg、Ks、DshThe numerical value of three parameters is searched
Rope scope is taken as 90%~110%, D of corresponding identification result in step 3)gNumerical search scope be taken as 0 according to relevant criterion
~0.05.
By above technical scheme, the beneficial effects of the present invention are：The present invention proposes a kind of double-fed induction wind-power electricity generation
The independent discrimination method of arbor system model parameter, methods described on the tach signal of DFIG units by being superimposed sinusoidal form
Disturbing signal at a slow speed, the decoupled identification of DFIG units electric parameter, controller parameter and shafting parameter is realized, can be still not
In the case of knowing DFIG units electric parameter and controller parameter exact value, the shafting parameter of DFIG units is individually distinguished
Know, and there is preferable identification precision, solve the problems, such as that the conventional mass shafting parameter of DFIG units two is difficult to identification.
Brief description of the drawings
Fig. 1 is the shafting structure figure of DFIG units.
Fig. 2 is the flow chart that DFIG shaft system of unit model parameters individually recognize.
Fig. 3 is the functional schematic of virtual tach signal generating means.
Fig. 4 is consequently exerted at the waveform of the sinusoidal form rotating speed disturbing signal on DFIG units.
Fig. 5 is the actual change curve for applying generator speed after sinusoidal form rotating speed disturbs.
Fig. 6 is the trace sensitivity curve for applying five shafting parameters after sinusoidal form rotating speed disturbs.
Fig. 7 is the grid-connected model schematic of DFIG unit units for parameter identification.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate
The present invention rather than limitation the scope of the present invention, after the present invention has been read, those skilled in the art are each to the present invention's
The modification of kind equivalents falls within the application appended claims limited range.
The independent discrimination method flows of DFIG shaft system of unit model parameters proposed by the invention as shown in Fig. 2 below with
Illustrated exemplified by the simulation model of one rated capacity 1.5MW DFIG units, the shafting parameter of the DFIG units, electrically ginseng
Number, the original set value of controller parameter are as shown in table 1, and unit operation is under set end voltage constant control mode.Because of wind energy conversion system
The existing independent discrimination method of parameter, therefore think that it is accurate, it will not be repeated here.
The original set value of the DFIG unit each several part parameters of table 1
Detailed parameter identification process is as follows：
1. step 1：Apply the disturbing signal at a slow speed of sinusoidal form in the generator speed signal of DFIG units and shield
Actual speed signal, the wind speed and the delta data of generator speed that DFIG units are born during record disturbance applies.
(1) step 1-1：Apply sinusoidal form disturbing signal and need to use a virtual tach signal generating means, its is defeated
It is actual speed signal to enter amount, and the tach signal of the device output sinusoidal form signal to DFIG units connects during disturbance applies
Receiving end, the device exports actual speed signal to the tach signal receiving terminal of DFIG units again after disturbance applies.Rotor turns
Fast ωrMeasurement signal be typically a pulse train, the interval of pulse is used for calculating rotating speed.Fig. 3 is virtual tach signal hair
The functional schematic of generating apparatus, digital signal processor DSP count to real tacho-pulse first, obtain actual rotating speed,
Go out the interval of dummy burst further according to the tach signal disturbance form calculus for intending applying, and pass through D/A converter and amplifying circuit
Virtual tach signal is produced, and the tach signal that virtual tach signal is conveyed to by DSP switching analoging switch DFIG units connects
Receiving end.After disturbance terminates, the tach signal that actual speed signal is conveyed to DFIG units by DSP switching analoging switch again receives
End.
(2) step 1-2：The sinusoidal form disturbing signal of application is ω0+ Asin (ω t), wherein ω0Before applying for disturbance
Generator speed, A are perturbation amplitude, and A can use 0.05~0.1p.u., and ω is the angular frequency of the sinusoidal form disturbing signal applied
Rate, ω can use 0.5 π~π, a length of 1~2 cycle when disturbance applies.In this example, the sinusoidal form disturbing signal amplitude of application
For A=0.05p.u., angular frequency=π, a length of 4 seconds, i.e. two cycles during application.Fig. 4 is sinusoidal form rotating speed disturbance letter
Number waveform.Fig. 5 give apply the sinusoidal form rotating speed disturbing signal after, the actual change curve of generator speed.
Under the disturbance of sinusoidal form tach signal, (parameter is inclined for the sensitivity of shafting parameter, electric parameter, controller parameter
From original set value 10%) result of calculation is as shown in table 2.As can be seen that remove Generator Damping coefficient DgOuter other four shafting
The sensitivity of the remolding sensitivity electric parameter of parameter is higher by 3~4 orders of magnitude, and 2~6 orders of magnitude are higher by than controller parameter.
Generator Damping coefficient DgThe sensitivity of remolding sensitivity electric parameter be higher by 1~2 order of magnitude, than most of controller parameter
Be higher by 1~4 order of magnitude, but with the K of Active Power Controlleri, the K of rotor-side current controllerpAnd KiIn the same order of magnitude
On.
Sensitivity of the DFIG unit parameters of table 2 under the disturbance of sinusoidal form tach signal to generator speed
For with Generator Damping coefficient DgThere are three controller parameters of same order sensitivity, it is inclined to expand its parameter
Shifting amount simultaneously observes relative error caused by it changes to generator speed, and result of calculation is as listed in table 3.It can be found that even if three
The value of individual controller parameter deviates original set value at double, and its influence to generator speed change is also minimum, will not be to it
The identification of his parameter, which is brought, to be significantly affected.
Sensitivity comparison after the parameter drift-out original set value of table 3
Above-mentioned analysis shows, it can be excited using the disturbance of sinusoidal form tach signal related to shafting parameter in DFIG units
Slow motion state, while can by electric parameter and controller parameter on this it is slow it is dynamic influence be preferably minimized, so as to realize axle
It is parameter and electric and controller parameter decoupled identification.
Fig. 6 gives the trace sensitivity curve for applying five shafting parameters after sinusoidal form rotating speed disturbs, according to parameter
The relevant theory of identifiability, zero passage during the trace sensitivity curve difference of five parameters, represents this five parameters in the sine
Can be by unique identification under the disturbance of form tach signal.
2. step 2：The unit and pessimistic concurrency control of DFIG units are established, and sets the numerical value and controller of its electric parameter at random
The numerical value of parameter, so that DFIG unit models can enter steady-state operation.
(1) step 2-1：The unit and pessimistic concurrency control of the DFIG units of foundation are as shown in fig. 7, DFIG unit set end voltages are
690V, boost to 110kV through two-stage and be connected with 110kV Infinite bus systems.
(2) step 2-2：The numerical value of random setting DFIG unit electric parameters and the numerical value of controller parameter, so that DFIG
Unit model can enter steady-state operation, and for actual DFIG units, the random value scope of fixed rotor resistance can be
0.001p.u.~0.1p.u., rotor reactance random value scope can be 0.05p.u.~0.5p.u., excitation reactance with
Machine span can ensure that unit model can enter for the numerical value of 1p.u.~10p.u., controller parameter after random setting
Entering steady-state operation, table 4 and table 5 sets forth the electric parameter and controller parameter randomly selected, it can be seen that
The parameter randomly selected has very big deviation compared to original set value, for simulating electric and all unknown controller parameter feelings
Condition.
The random value of the DFIG unit electric parameters of table 4
The random value of the DFIG generator set controller parameters of table 5
3. step 3：Using optimized algorithm, using the disturbing signal of sinusoidal form rotating speed described in step 1 as input, with DFIG machines
The generator speed of group, which becomes, turns to output, recognizes the H in DFIG shaft system of unit modelst、Hg、Ks、DshFour parameters.Selected in this example
Parameter identification is carried out with standard particle group algorithm, and number of particles is 20, the generation of iteration 50, the hunting zone of four parameters and identification
As a result as listed by table 6.As can be seen that removing shafting damped coefficient D from the result of table 6shError it is also larger outer, remaining parameter is distinguished
It is very accurate to know result.But if by Ht、Hg、Ks、Dsh、DgFive parameters are recognized simultaneously, then two damped coefficients
Identification result error is larger, as listed by table 7.
The hunting zone of 6 four shafting model parameters of table and identification result
| Parameter name | Ht | Hg | Ks | Dsh |
| Hunting zone | [1,10] | [0.1,1.5] | [0.1,2.5] | [0.1,2.5] |
| Identification result | 4.314 | 0.722 | 1.111 | 1.569 |
| Identification Errors | 0.14% | 0.28% | 0.09% | 4.60% |
The result that 7 five shafting model parameters of table recognize simultaneously
| Parameter name | Ht | Hg | Ks | Dsh | Dg |
| Hunting zone | [1,10] | [0.1,1.5] | [0.1,2.5] | [0.1,2.5] | [0,0.05] |
| Identification result | 4.243 | 0.706 | 1.089 | 1.338 | 0.037 |
| Identification Errors | 1.78% | 1.94% | 1.89% | 10.80% | 270.0% |
4. step 4：The H that fixing step 3 picks outtParameter values, using optimized algorithm, with sinusoidal described in step 1
Formula rotating speed disturbing signal is input, is become with the generator speed of DFIG units and turns to output, is recognized in DFIG shaft system of unit models
Hg、Ks、Dsh、DgFour parameters.Hg、Ks、DshThe numerical search scope of three parameters is taken as corresponding identification result in step 3)
90%~110%, DgNumerical search scope be taken as 0~0.05 according to relevant criterion, identification result can be seen as listed by table 8
Identification precision to two damped coefficients is greatly improved.
The parameter identification result of the step 4 of table 8
| Parameter name | Hg | Ks | Dsh | Dg |
| Hunting zone | [0.650,0.794] | [0.999,1.222] | [1.412,1.726] | [0,0.05] |
| Identification result | 0.719 | 1.110 | 1.499 | 0.0099 |
| Identification Errors | 0.14% | 0.00% | 0.07% | 1.00% |
5. step 5：With the H picked out in step 3tWith the H picked out in step 4g、Ks、Dsh、DgFor DFIG shaft system of unit
The final identification result of model parameter, as listed by table 9.It can be seen that DFIG shaft system of unit model parameter is electrically being joined with controller
Number has still obtained accurate identification in the case of having very large deviation, indicates the validity of this method.
The final identification result of the DFIG shaft system of unit model parameters of table 9
| Parameter name | Ht | Hg | Ks | Dsh | Dg |
| Original set value | 4.32 | 0.72 | 1.11 | 1.5 | 0.01 |
| Identification result | 4.314 | 0.719 | 1.110 | 1.499 | 0.0099 |
| Identification Errors | 0.14% | 0.14% | 0.00% | 0.07% | 1.00% |
Claims (8)
1. a kind of independent discrimination method of DFIG shaft system of unit model parameter, it is characterised in that comprise the following steps：
1) apply the disturbing signal at a slow speed of sinusoidal form in the generator speed signal of DFIG units and shield actual speed letter
Number, the wind speed and the delta data of generator speed that DFIG units are born during record disturbance applies；
2) unit and pessimistic concurrency control of DFIG units are established, and sets the numerical value of its electric parameter and the number of controller parameter at random
Value, so that DFIG unit models enter steady-state operation；
3) optimized algorithm is used, using the disturbing signal of sinusoidal form rotating speed described in step 1) as input, with the generating of DFIG units
Machine rotation speed change is output, recognizes the H in DFIG shaft system of unit modelst、Hg、Ks、DshFour parameters；
4) fixing step 3) in the H that picks outtParameter values, using optimized algorithm, disturbed with sinusoidal form rotating speed described in step 1)
Dynamic signal is input, is become with the generator speed of DFIG units and turns to output, recognizes the H in DFIG shaft system of unit modelsg、Ks、
Dsh、DgFour parameters；
5) H to be picked out in step 3)tWith the H picked out in step 4)g、Ks、Dsh、DgFor DFIG shaft system of unit model parameters
Final identification result.
2. the independent discrimination method of DFIG shaft system of unit model parameter according to claim 1, it is characterised in that recognized
Shafting model be two mass models, include Ht、Hg、Ks、Dsh、DgFive parameters.
3. the independent discrimination method of DFIG shaft system of unit model parameter according to claim 1, it is characterised in that the step
Rapid 1) the middle sinusoidal form disturbing signal that applies uses a virtual tach signal generating means, and its input quantity is actual speed letter
Number, the device exports sinusoidal form signal and applied to the tach signal receiving terminal of DFIG units, disturbance during disturbance applies
The device exports actual speed signal to the tach signal receiving terminal of DFIG units again after finishing.
4. the independent discrimination method of DFIG shaft system of unit model parameter according to claim 3, it is characterised in that it is described just
The functional form of string form disturbing signal is ω0+ Asin (ω t), wherein ω0Generator speed before applying for disturbance, A are to disturb
Dynamic amplitude, A can use 0.05~0.1p.u., and ω is the angular frequency of the sinusoidal form disturbing signal applied, and ω can use 0.5 π~π,
A length of 1~2 cycle when disturbance applies.
5. the independent discrimination method of DFIG shaft system of unit model parameter according to claim 1, it is characterised in that the step
It is rapid 2) in, it is fixed to turn for actual DFIG units when being randomly provided the electric parameter numerical value and controller parameter numerical value of DFIG units
The random value scope of sub- resistance is 0.001p.u.~0.1p.u., the random value scope of rotor reactance be 0.05p.u.~
0.5p.u., the random value scope of excitation reactance are 1p.u.~10p.u., the numerical value of controller parameter after random setting, protect
Card unit model can enter steady-state operation.
6. the independent discrimination method of DFIG shaft system of unit model parameter according to claim 1, it is characterised in that the step
It is rapid 4) in, using optimized algorithm recognize Hg、Ks、Dsh、DgDuring four parameters, HtThe identification result being directly taken as in step 3), Hg、
Ks、DshThe numerical search scope of three parameters is taken as 90%~110%, D of corresponding identification result in step 3)gNumerical search
Scope is taken as 0~0.05 according to relevant criterion.
7. the independent discrimination method of DFIG shaft system of unit model parameter according to claim 1, it is characterised in that in step
3) and in step 4), generator speed is chosen as output quantity, i.e., the observed quantity that parameter identification uses.
8. the independent discrimination method of DFIG shaft system of unit model parameter according to claim 1, it is characterised in that pass through step
It is rapid that all five shafting parameters 3) are obtained with the identification twice of step 4), H is only recognized in step 3) firstt、Hg、Ks、DshDeng four
The larger parameter of individual sensitivity, the Generator Damping coefficient D minimum without recognizing sensitivityg, then in step 4) further
Recognize Hg、Ks、Dsh、DgDeng four parameters, the final H to be picked out in step 3)tWith the H picked out in step 4)g、Ks、Dsh、Dg
For final identification result.
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